Config class for the teb_local_planner and its components. More...

#include <teb_config.h>

Classes
struct	GoalTolerance
	Goal tolerance related parameters. More...
struct	HomotopyClasses
struct	Obstacles
	Obstacle related parameters. More...
struct	Optimization
	Optimization related parameters. More...
struct	Robot
	Robot related parameters. More...
struct	Trajectory
	Trajectory related parameters. More...
Public Member Functions
void	checkDeprecated (const ros::NodeHandle &nh) const
	Check if some deprecated parameters are found and print warnings.
void	checkParameters () const
	Check parameters and print warnings in case of discrepancies.
boost::mutex &	configMutex ()
	Return the internal config mutex.
void	loadRosParamFromNodeHandle (const ros::NodeHandle &nh)
	Load parmeters from the ros param server.
void	reconfigure (TebLocalPlannerReconfigureConfig &cfg)
	Reconfigure parameters from the dynamic_reconfigure config. Change parameters dynamically (e.g. with `rosrun rqt_reconfigure rqt_reconfigure`). A reconfigure server needs to be instantiated that calls this method in it's callback. In case of the plugin teb_local_planner default values are defined in PROJECT_SRC/cfg/TebLocalPlannerReconfigure.cfg.
	TebConfig ()
	Construct the TebConfig using default values.
Public Attributes
struct teb_local_planner::TebConfig::GoalTolerance	goal_tolerance
	Goal tolerance related parameters.
struct teb_local_planner::TebConfig::HomotopyClasses	hcp
std::string	map_frame
	Global planning frame.
struct teb_local_planner::TebConfig::Obstacles	obstacles
	Obstacle related parameters.
std::string	odom_topic
	Topic name of the odometry message, provided by the robot driver or simulator.
struct teb_local_planner::TebConfig::Optimization	optim
	Optimization related parameters.
struct teb_local_planner::TebConfig::Robot	robot
	Robot related parameters.
struct teb_local_planner::TebConfig::Trajectory	trajectory
	Trajectory related parameters.
Private Attributes
boost::mutex	config_mutex_
	Mutex for config accesses and changes.

Detailed Description

Config class for the teb_local_planner and its components.

Definition at line 61 of file teb_config.h.

Constructor & Destructor Documentation

teb_local_planner::TebConfig::TebConfig ( ) [inline]

Construct the TebConfig using default values.

Warning:: If the rosparam server or/and dynamic_reconfigure (rqt_reconfigure) node are used, the default variables will be overwritten:
E.g. if base_local_planner is utilized as plugin for the navigation stack, the initialize() method will register a dynamic_reconfigure server. A subset (not all but most) of the parameters are considered for dynamic modifications. All parameters considered by the dynamic_reconfigure server (and their default values) are set in PROJECT_SRC/cfg/TebLocalPlannerReconfigure.cfg.
In addition the rosparam server can be queried to get parameters e.g. defiend in a launch file. The plugin source (or a possible binary source) can call loadRosParamFromNodeHandle() to update the parameters. In summary, default parameters are loaded in the following order (the right one overrides the left ones):
TebConfig Constructor defaults << dynamic_reconfigure defaults << rosparam server defaults

Definition at line 184 of file teb_config.h.

Member Function Documentation

void teb_local_planner::TebConfig::checkDeprecated ( const ros::NodeHandle & nh ) const

Check if some deprecated parameters are found and print warnings.

Parameters:

nh	const reference to the local ros::NodeHandle

Definition at line 257 of file teb_config.cpp.

void teb_local_planner::TebConfig::checkParameters ( ) const

Check parameters and print warnings in case of discrepancies.

Call this method whenever parameters are changed using public interfaces to inform the user about some improper uses.

Definition at line 210 of file teb_config.cpp.

boost::mutex& teb_local_planner::TebConfig::configMutex ( ) [inline]

Return the internal config mutex.

Definition at line 311 of file teb_config.h.

void teb_local_planner::TebConfig::loadRosParamFromNodeHandle ( const ros::NodeHandle & nh )

Load parmeters from the ros param server.

Parameters:

nh	const reference to the local ros::NodeHandle

Definition at line 44 of file teb_config.cpp.

void teb_local_planner::TebConfig::reconfigure ( TebLocalPlannerReconfigureConfig & cfg )

Reconfigure parameters from the dynamic_reconfigure config. Change parameters dynamically (e.g. with rosrun rqt_reconfigure rqt_reconfigure). A reconfigure server needs to be instantiated that calls this method in it's callback. In case of the plugin teb_local_planner default values are defined in PROJECT_SRC/cfg/TebLocalPlannerReconfigure.cfg.

Parameters: